阅读说明：本技术 一种井下定位系统及定位方法 (Underground positioning system and positioning method ) 是由 王雪峰 邓存宝 牛丰 郝朝瑜 陈曦 李雨成 杨艳国 司蕊 范超男 于 2019-10-21 设计创作，主要内容包括：本发明公开一种井下定位系统及定位方法。通过在井下巷道的井道壁上安装多个定位器来接收定位标识卡的射频信号,并根据频信号数据包内携带的定位标识卡编号、与所述定位标识卡编号对应的发射功率和工作频率、定位器编号及与所述定位器编号对应的接收功率信息来确定定位标识卡的位置。在进行定位计算时,采用的是与定位标识卡距离最近、接收信号最强的两个定位器的接收功率,因此定位计算准确度更高。采用本发明系统及方法能够获得移动定位标识卡距离某个固定定位器的角度和距离,从而确定携带所述定位标识卡的井下人员或井下设备的具体位置,提高了定位精度。(The invention discloses an underground positioning system and an underground positioning method. The method comprises the steps of receiving radio frequency signals of a positioning identification card by installing a plurality of positioners on the wall of a shaft of an underground tunnel, and determining the position of the positioning identification card according to the number of the positioning identification card carried in a frequency signal data packet, the transmitting power and the working frequency corresponding to the number of the positioning identification card, the number of the positioner and the receiving power information corresponding to the number of the positioner. When the positioning calculation is carried out, the receiving power of the two positioners which are closest to the positioning identification card and have the strongest receiving signals is adopted, so that the positioning calculation accuracy is higher. The system and the method can obtain the angle and the distance between the mobile positioning identification card and a fixed locator, thereby determining the specific position of underground personnel or underground equipment carrying the positioning identification card and improving the positioning precision.)

1. A downhole positioning system, comprising: the system comprises a ground control center, a ground gateway, an underground gateway, a plurality of positioners arranged underground and a plurality of positioning identification cards carried by underground personnel or underground equipment;

the ground control center is connected with the ground gateway; the ground gateway is connected with the underground gateway; a plurality of the locators are sequentially installed on a shaft wall of the underground roadway; the underground gateway is connected with a plurality of the locators; the positioning identification card is carried by underground personnel or underground equipment; the positioning identification card and the positioner are communicated through radio frequency signals.

2. The downhole positioning system of claim 1, wherein the positioning identification card comprises an identification card processor and a radio frequency signal transmission module, the identification card processor being connected to the radio frequency signal transmission module; the locator comprises a locator processor and a radio frequency signal receiving module, and the locator processor is connected with the radio frequency signal receiving module; the radio frequency signal receiving module of each locator is used for receiving radio frequency signals sent by the radio frequency signal transmitting modules of the plurality of locating identification cards.

3. A downhole positioning system according to claim 1, wherein the distance between two adjacent positioners at different locations is different.

4. The downhole positioning system of claim 3, wherein the distance between two adjacent positioners in a downhole roadway with a bend angle of 30 ° or less is 50-70 meters.

5. The downhole positioning system of claim 3, wherein the distance between two adjacent positioners in a downhole roadway with a bend angle greater than 30 ° is 10-20 meters.

6. A downhole positioning method, wherein the positioning method is applied to the downhole positioning system of claim 1; the positioning method comprises the following steps:

acquiring a plurality of radio frequency signal data packets from a plurality of locators; the radio frequency signal data packet comprises a positioning identification card number, transmitting power and working frequency corresponding to the positioning identification card number, a positioner number and receiving power corresponding to the positioner number;

determining a first received power and a second received power for use in positioning calculations from a plurality of said radio frequency signal data packets;

and determining the position of the underground personnel or the underground equipment according to the first receiving power and the second receiving power.

7. The downhole location method of claim 6, wherein determining the first received power and the second received power for the location calculation from the plurality of radio frequency signal data packets comprises:

determining a set of received powers { PI ] for N receivers from N received powers within N of the RF signal packets_i1，PI_i2，...，PI_iN}; wherein PI_inIndicating the received power of the radio frequency signal with the number i when the radio frequency signal reaches the nth locator; n is less than or equal to N;

determining a receiving power set { PI corresponding to the positioning identification card with the number i_i1，PI_i2，...，PI_iNThe maximum two received powers in the sequence are respectively used as the first received power PI_iaAnd a second received power PI_ib(ii) a Wherein the first received power PI_iaFor the set of received powers { PI_i1，PI_i2，...，PI_iNThe maximum received power of said PI, said second received power_ibFor the set of received powers { PI_i1，PI_i2，...，PI_iNThe second largest received power in.

8. The downhole positioning method of claim 7, wherein determining the position of downhole personnel or downhole equipment from the first received power and the second received power comprises:

according to the first received power PI_iaDetermining that the radio frequency signal transmitted by the positioning identification card with the number i is transmitted to the positioning with the number aPower loss PLOS of transmission process of device_ia；

Loss of power PLOS_iaLOS (LOSs of line of sight) for converting transmission LOSs of radio frequency signals transmitted by I-numbered positioning identification cards to a-numbered locator_ia；

According to the transmission LOSs LOS_iaDetermining a first distance D between the positioning identification card with the number i and the positioner with the number a_ia；

Determining a second distance D between the positioning identification card with the number i and the positioner with the number b according to the second receiving power by adopting a calculation method the same as the first receiving power_ib；

According to the first distance D_iaThe second distance D_ibAnd a third distance D stored in the ground control center database_abDetermining a first included angle A between the positioning identification card with the number i and the positioner with the number a_ia；

According to the position of the locator with the serial number a and the first included angle A_iaAnd the first distance D_iaAnd determining the position of the underground personnel or the underground equipment carrying the positioning identification card with the number i.

9. A downhole positioning method according to claim 8, wherein the first received power PI is a function of the first received power_iaDetermining power loss PLOS of transmission process of radio frequency signal emitted by positioning identification card with number i to positioner with number a_iaThe method specifically comprises the following steps:

using the formula PLOS_ia＝PO_i-PI_iaDetermining power loss PLOS of transmission process of radio frequency signal emitted by positioning identification card with number i to positioner with number a_ia(ii) a In which PO is_iThe transmitting power of the positioning identification card with the number i is represented; PI (proportional integral)_iaIndicating the first received power at which the radio frequency signal numbered i arrives at the a-th locator.

10. A downhole positioning method according to claim 8, whereinThen, the LOS is determined according to the transmission LOSs_iaDetermining a first distance D between the positioning identification card with the number i and the positioner with the number a_iaThe method specifically comprises the following steps:

using the formula LOS_ia＝K+32.44+20lgD_ia+20lgf_iDetermining a first distance D between the positioning identification card with the number i and the positioner with the number a_ia(ii) a Wherein K represents a loss correction factor; f. of_iAnd the working frequency of the radio frequency signal transmitted by the positioning identification card with the number i is shown.

Technical Field

The invention relates to the technical field of wireless positioning, in particular to an underground positioning system and a positioning method.

Background

With the leap-type development of national economy, higher requirements are put on safety production, especially the safety management of workers in high-risk environments becomes the central importance of the safety production process, and the research and development of underground positioning systems are becoming urgent requirements of the times.

In the process of wireless network-based underground positioning, the geographic position of an event is often key information which needs to be mastered at the first time, and irreparable loss is brought to personnel and property safety if the position information of the event cannot be obtained in time.

The positioning system applied to underground personnel in the market at present mainly adopts the RSSI (received signal strength) principle of the Zigbee technology to position the underground personnel, however, the positioning method has a large error range, and can only achieve the function of area positioning in positioning.

Disclosure of Invention

The invention aims to provide an underground positioning system and an underground positioning method, which aim to solve the problem that the existing underground positioning method is inaccurate in positioning.

In order to achieve the purpose, the invention provides the following scheme:

a downhole positioning system, the downhole positioning system comprising: the system comprises a ground control center, a ground gateway, an underground gateway, a plurality of positioners arranged underground and a plurality of positioning identification cards carried by underground personnel or underground equipment;

the ground control center is connected with the ground gateway; the ground gateway is connected with the underground gateway; a plurality of the locators are sequentially installed on a shaft wall of the underground roadway; the underground gateway is connected with a plurality of the locators; the positioning identification card is carried by underground personnel or underground equipment; the positioning identification card and the positioner are communicated through radio frequency signals.

Optionally, the positioning identification card includes an identification card processor and a radio frequency signal transmitting module, and the identification card processor is connected to the radio frequency signal transmitting module; the locator comprises a locator processor and a radio frequency signal receiving module, and the locator processor is connected with the radio frequency signal receiving module; the radio frequency signal receiving module of each locator is used for receiving radio frequency signals sent by the radio frequency signal transmitting modules of the plurality of locating identification cards.

Optionally, the distance between two adjacent locators at different positions is different.

Optionally, the distance between two adjacent locators in the underground roadway with the bending angle of less than or equal to 30 degrees is 50-70 meters.

Optionally, the distance between two adjacent locators in the underground roadway with the bending angle larger than 30 degrees is 10-20 meters.

A downhole positioning method, the positioning method being applied to the downhole positioning system; the positioning method comprises the following steps:

acquiring a plurality of radio frequency signal data packets from a plurality of locators; the radio frequency signal data packet comprises a positioning identification card number, transmitting power and working frequency corresponding to the positioning identification card number, a positioner number and receiving power corresponding to the positioner number;

determining a first received power and a second received power for use in positioning calculations from a plurality of said radio frequency signal data packets;

and determining the position of the underground personnel or the underground equipment according to the first receiving power and the second receiving power.

Optionally, the determining a first receiving power and a second receiving power for positioning calculation according to the plurality of radio frequency signal data packets specifically includes:

determining a set of received powers { PI ] for N receivers from N received powers within N of the RF signal packets_i1，PI_i2，...，PI_iN}; wherein PI_inIndicating the received power of the radio frequency signal with the number i when the radio frequency signal reaches the nth locator; n is less than or equal to N;

determining a receiving power set { PI corresponding to the positioning identification card with the number i_i1，PI_i2，...，PI_iNThe maximum two received powers in the sequence are respectively used as the first received power PI_iaAnd a second received power PI_ib(ii) a Wherein the first received power PI_iaFor the set of received powers { PI_i1，PI_i2，...，PI_iNThe maximum received power of said PI, said second received power_ibFor the set of received powers { PI_i1，PI_i2，...，PI_iNThe second largest received power in.

Optionally, the determining the position of the downhole personnel or the downhole equipment according to the first receiving power and the second receiving power specifically includes:

according to the first received power PI_iaDetermining power loss PLOS of transmission process of radio frequency signal emitted by positioning identification card with number i to positioner with number a_ia；

Loss of power PLOS_iaLOS (LOSs of line of sight) for converting transmission LOSs of radio frequency signals transmitted by I-numbered positioning identification cards to a-numbered locator_ia；

According to the transmission LOSs LOS_iaDetermining a first distance D between the positioning identification card with the number i and the positioner with the number a_ia；

Determining a second distance D between the positioning identification card with the number i and the positioner with the number b according to the second receiving power by adopting a calculation method the same as the first receiving power_ib；

According to the first distance D_iaThe second distance D_ibAnd a third distance D stored in the ground control center database_abDetermining a first included angle A between the positioning identification card with the number i and the positioner with the number a_ia；

According to said locator numbered aPosition, said first angle A_iaAnd the first distance D_iaAnd determining the position of the underground personnel or the underground equipment carrying the positioning identification card with the number i.

Optionally, the receiving power according to the first receiving power PI_iaDetermining power loss PLOS of transmission process of radio frequency signal emitted by positioning identification card with number i to positioner with number a_iaThe method specifically comprises the following steps:

using the formula PLOS_ia＝PO_i-PI_iaDetermining power loss PLOS of transmission process of radio frequency signal emitted by positioning identification card with number i to positioner with number a_ia(ii) a In which PO is_iThe transmitting power of the positioning identification card with the number i is represented; PI (proportional integral)_iaIndicating the first received power at which the radio frequency signal numbered i arrives at the a-th locator.

Optionally, the LOS is based on the transmission LOSs_iaDetermining a first distance D between the positioning identification card with the number i and the positioner with the number a_iaThe method specifically comprises the following steps:

using the formula LOS_ia＝K+32.44+20lg D_ia+20lg f_iDetermining a first distance D between the positioning identification card with the number i and the positioner with the number a_ia(ii) a Wherein K represents a loss correction factor; f. of_iAnd the working frequency of the radio frequency signal transmitted by the positioning identification card with the number i is shown.

According to the specific embodiment provided by the invention, the invention discloses the following technical effects:

the invention provides an underground positioning system and a positioning method, which receive radio frequency signals of a positioning identification card by installing a plurality of positioners on the wall of a shaft of an underground tunnel, and determine the position of the positioning identification card according to the number of the positioning identification card carried in a frequency signal data packet, the transmitting power and the working frequency corresponding to the number of the positioning identification card, the number of the positioner and the receiving power information corresponding to the number of the positioner. When the positioning calculation is carried out, the receiving power of the two positioners which are closest to the positioning identification card and have the strongest receiving signals is adopted, so that the positioning calculation accuracy is higher. The system and the method can obtain the angle and the distance between the mobile positioning identification card and a fixed locator, thereby determining the specific position of underground personnel or underground equipment carrying the positioning identification card and improving the positioning precision.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings provided by the present invention without any creative effort.

FIG. 1 is a schematic structural view of a downhole positioning system provided by the present invention;

FIG. 2 is a schematic diagram of the downhole location method provided by the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The invention aims to provide an underground positioning system and an underground positioning method, which aim to solve the problem that the existing underground positioning method is inaccurate in positioning.

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.

Fig. 1 is a schematic structural diagram of a downhole positioning system provided by the present invention. Referring to fig. 1, the present invention provides a downhole positioning system comprising: the system comprises a ground control center 1, a ground gateway 2, an underground gateway 3, a plurality of positioners 4 arranged underground and a plurality of positioning identification cards 5 carried by underground personnel or underground equipment.

The ground control center 1 is connected with the ground gateway 2 through a CAN bus, the ground gateway 2 is connected with the underground gateway 3 through the CAN bus, and the underground gateway 3 is connected with the plurality of locators 4 through the CAN bus. The positioning identification card 5 and the positioner 4 are communicated through radio frequency signals.

The plurality of locators 4 are sequentially installed on a shaft wall of a downhole roadway, and when the locators 4 are initialized, the ground control center 1 configures unique locator numbers for the locators 4. Each locator number and locator installation position are stored in the database of the ground control center 1.

The locator 4 comprises a locator processor, a radio frequency signal receiving module, a necessary CAN interface, a necessary power supply and other equipment. The positioning identification card 5 comprises an identification card processor, a radio frequency signal transmitting module, a necessary power supply and other equipment. The CAN bus is attached with a leaky cable, the underground part of the leaky cable is provided with a plurality of leaky through holes, and the leaky through holes are used for sending the operation instructions of the ground control center 1 to the positioning identification cards 5 and sending strong electromagnetic waves for charging the positioners 4.

And an identification card processor in the positioning identification card 5 is connected with the radio frequency signal transmitting module. When the positioning identification card 5 is initialized, the ground control center 1 configures a unique positioning identification card number for each positioning identification card 5, and stores the positioning identification card number in the identification card processor. The identification card processor is used for setting the transmitting power and the working frequency of the radio frequency signal transmitting module, compressing and signal modulating the number, the transmitting power and the working frequency of the self positioning identification card and then transmitting the positioning identification card through a radio frequency signal.

And a locator processor in the locator 4 is connected with the radio frequency signal receiving module. The radio frequency signal receiving module is used for receiving radio frequency signals sent by a plurality of positioning identification cards 5. And the radio frequency signal receiving module sends the received radio frequency signal to the locator processor. The locator processor decompresses, modulates and demodulates the radio frequency signal to obtain the number, the transmitting power and the working frequency of the locating identification card corresponding to the radio frequency signal, and simultaneously the locator processor processes to obtain the receiving power of the radio frequency signal. And the locator compresses the positioning identification card number, the transmitting power, the working frequency and the receiving power corresponding to the radio-frequency signal again to generate a radio-frequency signal compression packet. The radio frequency signal compression package is sequentially transmitted to the ground control center 1 through the CAN bus by the underground gateway 3 and the ground gateway 2. And the ground control center 1 accurately positions the underground personnel or equipment carrying the positioning identification card according to the information in the radio frequency signal compression packet.

According to the underground positioning system provided by the invention, the invention also provides an underground positioning method, which comprises the following steps:

step 1, installing and connecting an underground positioning system.

The ground control center 1, the ground gateway 2 and the downhole gateway 3 are connected according to the structure shown in fig. 1. A plurality of positioners 4 connected to a CAN bus are arranged in the underground roadway along the wall of the roadway. When the locator 4 is arranged, the locator is arranged from the road junction to the deep part of each roadway.

The spacing between two adjacent locators 4 at different locations may be different depending on the downhole environment. Specifically, the locator layout can be sparse in a straight roadway, and the locator layout at the corner of the roadway is dense. Preferably, one locator 4 is arranged in a straight roadway at intervals of 50-70 meters, and one locator 4 is arranged at each corner of the roadway at intervals of 10-20 meters. The straight roadway refers to the roadway with the bending angle of less than or equal to 30 degrees, and the roadway with the bending angle of more than 30 degrees is regarded as the corner of the roadway. Because the method has higher positioning precision in a straight roadway, the positioning precision of the same level as that of the straight roadway is achieved by arranging more dense positioners at the corners of the roadway.

And 2, initializing the locator and the locating identification card.

After the locator arrangement is completed, the surface control center 1 configures a unique locator number for each locator 4, and records the number of each locator and the corresponding downhole position in the database of the surface control station 1. The database can be realized by various existing database software systems such as Microsoft SQL Server 2000.

The method comprises the steps that initialization processing is carried out on positioning identification cards 5 carried by underground personnel, the ground control center 1 configures unique positioning identification card numbers for each positioning identification card 5, and the positioning identification card numbers are stored in an identification card processor.

And allocating a positioning identification card to each underground worker or mobile mechanical equipment to be positioned, and recording the number of each positioning identification card and the information of the corresponding worker or mobile mechanical equipment in a database of the ground control console 1.

And 3, transmitting and receiving the radio frequency signal.

The positioning identification card 5 sends a radio frequency signal containing a positioning identification card number, transmission power and operating frequency at intervals. The sending time interval of the radio frequency signal can depend on the placing interval of the positioning devices in the roadway and the moving speed of the positioning identification card.

Preferably, the time interval is less than the time required for moving the positioning identification card 5 from one positioner to the next adjacent positioner, for example, when the positioning object is a worker, the time interval is 10 to 15 seconds, and when the positioning object is a mobile mechanical device, the time interval can be 1 to 2 seconds, and can also be taken according to actual use requirements.

The locator 4 receives the radio frequency signal sent by the locating identification card 5 and records the received power of the received radio frequency signal, and after compressing the locating identification card number, the transmitting power and the working frequency corresponding to the locating identification card number, the locator number and the received power corresponding to the locator number, the locator generates a radio frequency signal data packet and sends the radio frequency signal data packet to the ground control center 1.

And 4, accurately positioning the personnel or the equipment.

And after receiving the radio frequency signal data packet, the ground control center 1 performs positioning operation by referring to the data stored in the database.

The ground control center 1 receives a plurality of data packets from a plurality of locators 4The data packets are in turn from a plurality of locator identification cards 5, respectively. The ground control center 1 decompresses the radio frequency signal data packet to obtain the number of the positioning identification card, and the transmitting power, the receiving power and the working frequency corresponding to the positioning identification card with the number. The invention records the transmitting power of the positioning identification card with the number of i as PO_i. For the positioning identification card with the number i, N positioners receive the transmitted radio frequency signal with the number i, and the receiving power of the radio frequency signal with the number i when reaching the nth positioner is PI_inWherein N is less than or equal to N.

Determining a set of received powers { PI ] for N receivers_i1，PI_i2，...，PI_iNSelecting a received power set (PI) corresponding to the positioning identification card with the number i according to the size of each received power in the positioning identification card_i1，PI_i2，...，PI_iNThe largest two received powers PI_iaAnd PI_ibAnd carrying out underground positioning calculation. According to the attenuation rule of the power transmission process, generally, the farther the distance, the greater the attenuation, and the closer the distance, the smaller the attenuation. Thus PI_iaAnd PI_ibThe locator with the number a and the locator with the number b which correspond to each other are two locators closest to the locating identification card with the number i, and the approximate area where the locating identification card with the number i is located can be known according to the positions of the locator with the number a and the locator with the number b, so that the crude locating of underground personnel can be realized. And further, the accurate positioning of the underground personnel can be carried out according to other data in the radio frequency signal data packet.

When N is less than or equal to 2, the radio frequency signals sent by the positioning identification cards are received by only two positioners, and the personnel or equipment carrying the positioning identification cards are far away from the layout area of the positioners, so that the personnel or equipment carrying the positioning identification cards are likely to enter an undeveloped dangerous area and cannot be accurately positioned. At this time, the personnel or equipment carrying the positioning identification card with the number i can be alarmed through underground broadcasting.

For the nth locator corresponding to the locating identification card with the number of i, the received power is PI_inNumbered iThe transmission power of the positioning identification card is PO_iCalculating the power loss in the transmission process of the radio frequency signal transmitted by the positioning identification card with the serial number i by adopting the following formula (1):

PLOS_in＝PO_i-PI_in (1)

wherein PLOS_inThe power loss in MW (megawatt) during transmission of the radio frequency signal transmitted by the positioning identification card with number i is shown. PO (PO)_iIndicating the transmission power, PI, of the location identity card numbered i_inIndicating the received power at which the radio frequency signal numbered i arrives at the nth locator.

Converting the power loss of the radio frequency signal transmission process into the transmission loss according to the formula (2):

LOS_in＝10log PLOS_in (2)

wherein LOS_inThe transmission loss in dBm (decibel-milliwatt) of the radio frequency signal numbered i when it reaches the nth locator is indicated.

Calculating the distance D between the positioning identification card with the number i and the positioner with the number n according to the transmission loss_in：

LOS_in＝K+32.44+20lg D_in+20lg f_i (3)

Wherein D_inThe distance between the positioning identification card with the number i and the positioner with the number n is represented; LOS_inThe transmission loss in the process that the radio frequency signal is transmitted to the locator with the number n from the locating identification card with the number i is represented; k represents loss correction coefficient, and since the radio frequency signal is influenced by various external factors, such as loss caused by atmosphere, barriers, multipath and the like, the correction coefficient of the loss is calculated into the formula, so that the positioning accuracy can be improved. f. of_iAnd the working frequency of the radio frequency signal transmitted by the positioning identification card with the number i is shown.

FIG. 2 is a schematic diagram of the downhole location method provided by the present invention. Referring to fig. 2, the received power PI_iaAnd PI_ibRespectively substituting the above formulas (1) - (3) to calculate the distance D between the positioning identification card with number i and the positioner with number a_iaAnd is numbered asDistance D between positioning identification card of i and positioner with number b_ib. Extracting the distance D between the locator with the number a and the locator with the number b from the ground control center 1 database_ab. As shown in FIG. 2, in the known triangle, the length D of the three side edge_ia、D_ibAnd D_abUnder the condition of (1), the azimuth angle A can be obtained by adopting the cosine law_iaOr B_ib. Solving the azimuth angle A by adopting the cosine theorem_iOr B_iIs a conventional technique, and therefore, is not described in detail in the embodiments of the present invention. According to the azimuth angle A_iaAnd a distance D_iaThe position of the positioning identification card with the number i can be accurately positioned in the well.

After the ground control center 1 completes the positioning calculation, the positioning information of the staff or the equipment corresponding to the positioning identification card with the number i and the time of receiving the radio frequency signal data packet are stored in the database as historical information, and the real-time positioning information is displayed on the screen.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention disclosed herein should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

The principles and embodiments of the present invention have been described herein using specific examples, which are presented solely to aid in the understanding of the devices and principles of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.